using System;
using System.Collections.Generic;
using System.Text;
using LocalizationTest.Tools;

namespace LocalizationTest
{
  public class Experiment2DBearingSensor : Experiment
  {
    public Experiment2DBearingSensor()
    {
      map = new MapWithLandmarks(MapWithLandmarks.MapType.lighthouses);
      motionModel = new MotionModel2D();
//      typeOfActionDescription = typeof(ContinuousAction2D);
      typeOfActionDescription = typeof(DiscreteAction2D);
      sensors = new List<Sensor>();
      sensors.Add(new BearingSensor(MapWithLandmarks.LandmarkIDs.opponentLeftGoalPost));
      sensors.Add(new BearingSensor(MapWithLandmarks.LandmarkIDs.opponentRightGoalPost));
      sensors.Add(new BearingSensor(MapWithLandmarks.LandmarkIDs.centerLeftFlag));
      //      sensors.Add(new LandmarkDetectionSensor(MapWithLandmarks.LandmarkIDs.tvTower, 0, Math.PI / 3.0));
//      sensors.Add(new LandmarkDetectionSensor(MapWithLandmarks.LandmarkIDs.tvTower, Math.PI, Math.PI / 3.0));
      //    sensorModel.Add(new BearingSensor(MapWithLandmarks.LandmarkIDs.tree));

      actionAndObservationHistory = new ActionAndObservationHistory();
      simulatedWorldState = new WorldState2D(Globals.stateSpaceInitialX, Globals.stateSpaceInitialY);
    }
  }
}
